That worked out great. Thanks. I spent some time last night figuring out my mirrored range of values, since the servos respond to something like 1500 - 4450, so not every value worked. I think I’m limited to 1550-4450 now which makes sense. Also I ran an “endurance” test last night to see how long the battery would last. I ran four servos continuously and monitored the time with a time laps video. After 2 hours, I gave up and turned everything off. Then it only died an hour after that when I went back to coding and testing. So almost 3 hours of continuous use. That triples my required time. My only problem was that it was then that I found out my 6V regulator was only rated for 8.4V max input. Well, I’m running a 12V battery through it. Lets just say that over a 2 hour period (and probably long before that) it felt like a few degrees below on-fire.
My solution is to simply remove 3 cells form the 10 cell battery, and cut it down to 8.4 V. if the ratio is linear then 15 minutes per cell (2.5 hrs divide 10 cells) will be 1.75 hrs per 7 cells.
All I have left to do is incorporate the analog1 sample code that I got the bend sensors to work for and figure out how to stick it in this code to work. I figure I’ll need some true/false if statements to limit the range of the bend sensor so it doesn’t register values that will send my servo somewhere it doesn’t belong.
And after all the work for the mirror command, I found our linkages were not symmetrical enough and I ended up with a lot of binding, twisting, and anger servos, both fighting for position. For now we took out one, which seems faster,quieter,less drain on battery (as if that was an issue) and can handle the load without even trying. I found that when the servo is holding a position it is very loud, I know its because its on and fighting to hold a load at a set position against gravity, but is there any way to dampen the sound?